The invention relates to the technical field of automatic driving, and provides an automatic driving method and device for a road scene exceeding an ODD range, and the method comprises the steps: obtaining a real-time distance from a vehicle to a road scene position under the condition that the condition that the road scene exceeding the ODD range exists in the driving direction of the vehicle is detected; when the real-time distance reaches a preset reminding distance, reminding the driver to take over the vehicle; when the driver does not take over the vehicle and the real-time distance reaches a preset fallback triggering distance, the execution of the fallback is triggered, and the fallback comprises the execution of a braking action, so that under the condition that the driver does not take over the vehicle, it is guaranteed that the vehicle is braked before a preset safe distance is away from the road scene position; wherein the reminding distance, the fallback triggering distance and the safety distance are determined based on the type of the road scene exceeding the ODD range. According to the invention, automatic driving has good applicability in various road scenes beyond the ODD range.
本发明涉及自动驾驶技术领域,提供一种超出ODD范围道路场景的自动驾驶方法及装置,该方法包括:在检测到车辆行驶方向上存在超出ODD范围的道路场景的情况下,获取车辆到道路场景位置的实时距离;在实时距离达到预设的提醒距离时,提醒驾驶员接管车辆;在驾驶员未接管,且实时距离达到预设的fallback触发距离时,触发执行fallback,fallback包括执行刹车动作,以在驾驶员未接管的情况下,保证在离道路场景位置预设的安全距离之前刹停车辆;其中,提醒距离、fallback触发距离和安全距离基于超出ODD范围的道路场景的类型确定。本发明使自动驾驶在超出ODD范围的各类道路场景具有较好的适用性。
Automatic driving method and device for road scene beyond ODD range
超出ODD范围道路场景的自动驾驶方法及装置
2024-10-18
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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